Restricting access to a page / post based on roles

I’m looking for a plugin that would allow me to restrict which roles can see which pages / posts. Ideally, upon creating a page / post I could select what roles can see it (like the category selection for example).

I would appreciate any suggestions on how to do this, or links to a plugin if there is one. I’ve been looking around for a while but so far I haven’t found anything that would accomplish this.